CN103071826B - High-speed high-accuracy multi-axis PCB (Printed Circuit Board) numerical control drilling machine and control method thereof - Google Patents
High-speed high-accuracy multi-axis PCB (Printed Circuit Board) numerical control drilling machine and control method thereof Download PDFInfo
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Abstract
The invention provides a high-speed high-accuracy multi-axis PCB (Printed Circuit Board) numerical control drilling machine, which comprises a servo driving system, a multi-axis controlled mechanical transmission system, a motor device, a coupling, a position feedback module and a motion controller, wherein the mechanical transmission system is connected with the servo driving system through the coupling and the motor device in sequence; the position feedback module is connected with the mechanical transmission system and the servo driving system; the servo driving system is used for generating a driving signal by using a PID (Proportion Integration Differentiation) control algorithm according to a received control signal and a received feedback signal to drive the motor device; then the mechanical transmission system is driven to move stably by the motor device through the coupling; and the motion controller is built in a computer for controlling and coordinating the motion of each component in the mechanical transmission system. Thus, shock can be reduced during movement and drilling of the drilling machine, and the entire drilling machine can be quickly, accurately and stably controlled.
Description
Technical field
The present invention relates to numerical control drilling machine, in particular a kind of high speed and super precision multiaxis PCB numerical control drilling machine and control method thereof.
Background technology
The positioning precision of digital control system weighs an important indicator of Digit Control Machine Tool performance, directly has influence on the machining accuracy of Digit Control Machine Tool.Day by day become today of main flow in High-speed machining, also become positioning time of servo-drive system very important performance indications gradually.But in most of the cases, rapidity and accuracy are conflict problems, need compromise process.The factor affecting servo-drive system positioning performance is a lot, wherein the control algolithm that adopts of system and acceleration and deceleration process influence particularly remarkable.Generally, the control procedure of servo-drive system can be divided into acceleration, at the uniform velocity, slow down and low speed location four-stage, and wherein, deceleration and low speed locate two positioning precisions of stage on servo-drive system very important impact.For high-speed, high precision printed circuit board numerical control drilling machine, due to the point milling mode that drilling processing is a kind of typical point-to-point, therefore, when machining locus is optimized as far as possible, how effectively separating the rapidity of decision bit and accuracy is improve Drilling operation precision and benefit problem in the urgent need to address.
Along with the development of science and technology, electron trade, to the requirement of the multifunction of electronic product, miniaturization, lightweight, high density and high reliability, makes printed substrate develop rapidly to multilayer, the wide line-spacing of fine rule, thin through hole, specific function direction.Therefore, need to lay more line and hole in limited area.The quantity adopting PCB high-speed numeric control drilling machine processing diameter to be less than the PCB aperture of 0.2mm also sharply increases.The speed of PCB numerical control drilling machine and precision are had higher requirement.The basic processing characteristic of PCB high-speed numeric control drilling machine is: movement travel is short, and lathe start-stop is frequent, and aperture is little, and hole density is high, and requirement on machining accuracy is high.Produce to realize high-effect high-quality, the drilling ability of PCB high-speed numeric control drilling machine must be improved, this just not only needs the spindle speed improving drilling machine, and the feed speed and acceleration etc. in three directions must be improved, simultaneously, carry out the planning of rational machining path and can reduce idle stroke, improve working (machining) efficiency.Therefore, how to ensure main shaft high-speed rotation and at a high speed, the hole wall quality in processed hole and position, hole precision under high acceleration and deceleration feeding condition, avoid damaging the ultra tiny drill bit of rigidity extreme difference, all the Design and manufacture of PCB high-speed numeric control drilling machine is proposed to the requirement of more Gao Gengyan.At present, the general digital control system in open type of PC+ motion controller that adopts carries out motion control and planning.Common feed speed control and the method for path planning have: 1, linear acceleration and deceleration controls; 2, Exponential acceleration and deceleration controls; 3, SIN function feed speed control; 4, S curve feed speed control.
Prior art and existing problems: traditional solution is the stability increasing lathe bed and workbench Quality advance mechanical system.The high acceleration of workbench and large quality substantially increase the control difficulty of system, and how rapid starting/stopping reduces again the concussion that puts in place of system, becomes the core of PCB drilling machine control system.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of high speed and super precision multiaxis PCB numerical control drilling machine, controls the motion of many main shafts PCB numerical control drilling machine accurately to realize high speed, and can reduce to shake in the process of drilling machine motion and boring.
Technical scheme of the present invention is as follows:
A kind of high speed and super precision multiaxis PCB numerical control drilling machine, wherein, comprises servo drive system, the machine driven system of multijoint control, electric machine, shaft coupling, position feedback module and motion controller; Described machine driven system is connected with described servo drive system by described shaft coupling, described electric machine successively; Described position feedback module connects described mechanical drive train and to unify described servo drive system, for giving described servo drive system the displacement Real-time Feedback of described machine driven system; Described servo drive system is used for adopting pid control algorithm to produce drive singal to drive described electric machine according to the control signal received and feedback signal, and described electric machine drives described machine driven system to carry out stable motion by described shaft coupling again; Described motion controller is built in computer, for controlling, coordinating the motion of each parts in machine driven system.
Combine with technique scheme, described machine driven system comprises for placing pcb board and workbench, displacement detecting sensor, at least three main shafts and the bearing that can move in X-axis and Y direction; One end of described displacement detecting sensor is connected with described workbench, for responding to the shift position of described workbench, the other end of described displacement detecting sensor is connected with described position feedback module, and the shift position of the described workbench sensed is fed back to described position feedback module; Described main shaft comprises ball nut and ball-screw, for the motion of carry its tools drill bit or described workbench; Described ball nut is connected with described workbench; Described ball-screw is connected with described shaft coupling through ball nut, and the two ends of described ball-screw are fixed with described bearing.
Combine with above-mentioned each technical scheme, described electric machine comprises at least one speed/positional detector and at least one phase asynchronous alternating current generator; A described phase asynchronous alternating current generator is connected with described main shaft by described shaft coupling, for controlling the motion of described main shaft; Described speed/positional detector is connected with described phase asynchronous alternating current generator, for reading the revolution of described phase asynchronous alternating current generator and revolution being converted to positional information, feeds back to described servo drive system.
Combine with above-mentioned each technical scheme, described servo drive system comprises: speed control circuit, position control circuit, the first comparator, the second comparator and the 3rd comparator; Described position feedback module is connected with the inverting input of described first comparator, described numerical control drilling machine is connected with the in-phase input end of described first comparator, the output of described first comparator is connected with position control circuit, described first comparator the positional information of input and the positional information of feedback compare ask difference after output to described position control circuit; Described speed/positional detector is connected with the inverting input of described second comparator, described position control circuit is connected with the in-phase input end of described second comparator, the output of described second comparator is connected with described speed control circuit, described second comparator the velocity information of input and the velocity information that feeds back by compare ask difference after feed back to described speed control circuit; Described speed/positional detector is connected with the inverting input of described 3rd comparator, described speed control circuit is connected with the in-phase input end of described 3rd comparator, the output of described 3rd comparator is connected with described speed control circuit, described 3rd comparator the current information of current information and the feedback of input compare ask differ from after output to described speed control circuit, described speed control circuit is transferred to electric machine for controlling the motion of described machine driven system drive singal.
Combine with above-mentioned each technical scheme, described speed control circuit comprises: speed regulator, electric current loop pre-filter, current regulator, pulse-width modulator, comparator, loop feedback wave filter sum-product intergrator, the output of described second comparator, described speed regulator, described electric current loop pre-filter, the in-phase input end of described 3rd comparator is connected successively, the output of described 3rd comparator, described current regulator, described pulse-width modulator, described phase asynchronous alternating current generator, described integrator is connected successively, the electric current of described phase asynchronous alternating current generator feeds back to the inverting input of the 3rd comparator by described electric current loop feedback filter, the electric machine rotation inertia Negotiation speed ring feedback filter of described phase asynchronous alternating current generator feeds back to the inverting input of the second comparator.
Combine with above-mentioned each technical scheme, described position control circuit comprises: proportional controller, speed ring prefilter; The output of described first comparator is connected with the input of described proportional controller, the output of described proportional controller is connected with the input of described speed ring prefilter, and the output of described speed ring prefilter is connected with the in-phase input end of described second comparator.
Combine with above-mentioned each technical scheme, a kind of control method of high speed and super precision multiaxis PCB numerical control drilling machine, comprises the following steps:
A1, servo drive system, mechanical drive train is adopted to unify electric machine the rational founding mathematical models of binding site feedback module;
A2, carry out simulation analysis according to the Mathematical Modeling built up, regulate each link pid parameter, and it is adjusted obtain rational pid parameter;
A3, according to the pid parameter after adjusting, servo drive system adopts S type curve acceleration and deceleration mode to control machine driven system motion;
A4, arrange parameters by motion controller, and send instruction to servo drive system, according to the feedback of servo drive system, motion controller adjusts parameter online in real time, make whole control system speed change curves and accelerating curve continuous.
Combine with above-mentioned each technical scheme, in described steps A 3, the planning algorithm of described S type curve acceleration and deceleration mode comprises the following steps:
A31, first carry out the judgement of acceleration, judge that acceleration is in accelerations, at the uniform velocity still deceleration area; If be in accelerating region, forward steps A 32 to; If be at the uniform velocity district, forward steps A 33 to; Judge to terminate, forward steps A 34 to and carry out speed planning;
A32, this brief acceleration are in accelerating region, if speed is now also in accelerating sections, then according to target velocity and the displacement of targets of setting, have determined whether even accelerating sections; If speed is now in braking section, then according to physical planning maximal rate out, when preplanning speed and terminal velocity, determined whether even braking section; Judge to terminate, forward steps A 34 to and carry out speed planning;
Whether A33, judgement acceleration are first time be at the uniform velocity district, if so, then according to the target velocity when preplanning speed and setting, will calculate speed when acceleration reduces speed now, judge as later each interpolation cycle the condition whether acceleration will slow down; If speed is now in accelerating sections, then also need to judge whether acceleration reduces speed now according to displacement of targets; Judge to terminate, forward steps A 34 to and carry out speed planning;
A34, carry out the planning of speed, judgement speed is in acceleration, at the uniform velocity or deceleration area, and calculates current planned position; If be in accelerating region, forward steps A 35 to; If be at the uniform velocity district, forward steps A 36 to; If be in deceleration area, forward steps A 37 to;
A35, according to current planned position and displacement of targets, determined whether at the uniform velocity section, if not at the uniform velocity section, then calculate position surplus, for the position compensation of braking section, planning terminates;
Whether A36, judgement speed are first time be at the uniform velocity district, if so, then according to current planned position and displacement of targets, will calculate the position of deceleration point; Later each interpolation cycle will judge whether speed will reduce speed now, and if so, then spotting speed is 0, and calculates position surplus, and planning terminates;
A37, carry out position compensation, S type curve deceleration planning terminates.
Adopt such scheme, the present invention controls the work of machine driven system by servo drive system, position feedback module connects machine driven system and servo drive system makes whole system form a closed loop feedback, and servo drive system adopts electric current loop, speed ring and position ring, this tricyclic structure controls, and drive with the AC servomotor of vector controlled, quick accurate and stable to control can be carried out to whole drilling machine.
Accompanying drawing explanation
Fig. 1 is numerical control drilling machine feed servo-system theory of constitution figure provided by the invention;
Fig. 2 is high-order closed loop system simulation model figure provided by the invention;
Fig. 3 is Computer Simulation collectivity Scheme Design figure provided by the invention;
Fig. 4 is control flow chart provided by the invention;
Fig. 5 is S curve deceleration planning figure provided by the invention.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, a kind of high speed and super precision multiaxis PCB numerical control drilling machine comprises servo drive system 100, the machine driven system 102 of multijoint control, electric machine 101, shaft coupling 103, position feedback module 105 and motion controller; The machine driven system 102 of described multijoint control is connected with described servo drive system 100 by described shaft coupling 103, described electric machine 101 successively; Described position feedback module 105 connects described machine driven system 102 and described servo drive system 100, for giving described servo drive system the displacement Real-time Feedback of described machine driven system; Described servo drive system 100 is for adopting PID(Proportion Integration Differentiation according to the control signal received and feedback signal, proportional-integral-differential) control algolithm generation drive singal is to drive described electric machine 101, and described electric machine 101 drives described mechanism driving system 102 to carry out stable motion by described shaft coupling 103 again; Described motion controller is built in computer, for controlling, coordinating the motion of each parts in described machine driven system 102.
Combine with above-described embodiment, described machine driven system 102 comprises workbench 107, for placing pcb board and can moving in X-axis and Y direction, displacement detecting sensor 106, one end of described displacement detecting sensor 106 is connected with described workbench 107, the other end is connected with described position feedback module 105, the position of the workbench sensed is fed back to the input of servo drive system 100 with the movement position of induction described workbench 107.Such as, described displacement detecting sensor 106 can be grating scale, magnetic railings ruler etc.At least three main shafts, described main shaft comprises ball nut 108 and ball-screw 109, for the motion of carry its tools drill bit or described workbench 107, described ball nut 108 is connected with described workbench 107, ball-screw 109 and bearing 110, described ball-screw 109 is connected with described shaft coupling 103 through ball nut 108, and the two ends of described ball-screw 109 are fixed with two described bearings 110.Ball-screw Drive Systems is in the process positioned, because the stiffness variation in transmission direction produces deflection, thus make the acceleration and deceleration curves of platen produce hysteresis characteristic, working curve and ideal curve depart from, affect the transient tracking positioning precision under high speed location condition, finally cause the generation of position error.In ADAMS dynamics simulation software, in the kinetic model of transmission system, need to consider the rotary inertia, quality etc. of the tension and compression rigidity of the torsional rigidity of the torsional rigidity of shaft coupling 103, leading screw 109, leading screw 109, the axial rigidity of bearing assembly, axial rigidity that leading screw amount of deflection changes into and each parts.Show the schematic diagram of a wherein main shaft in Fig. 1, each main axle structure and type of drive all identical.
Combine with the various embodiments described above, described electric machine 101 comprises at least one speed/positional detector 104 and at least one phase asynchronous alternating current generator (permanent magnet synchronous motor, PMSM) 116, described phase asynchronous alternating current generator is connected with described main shaft by described shaft coupling, for controlling the motion of described main shaft, described speed/positional detector 104 is connected with described phase asynchronous alternating current generator 116, for reading the revolution of described phase asynchronous alternating current generator and revolution being converted to speed or positional information, feed back to described servo drive system 100.The quantity of described speed/positional detector 104, the described quantity of phase asynchronous alternating current generator 116 and the cooperating number cover of described main shaft.Such as, described main shaft is 8, comprising: X-axis, Y-axis, Z
1axle, Z
2axle, Z
3axle, Z
4axle, Z
5axle and Z
6axle, then described speed/positional detector 104 is 8, described phase asynchronous alternating current generator is also 8, each main shaft is connected with described speed/positional detector 104 by alternating current generator phase asynchronous described in, threephase asynchronous machine drives main axis, speed/positional detector 104 reads the revolution of described phase asynchronous alternating current generator 116 and revolution is converted to positional information, feeds back to described servo drive system 100.
Combine with the various embodiments described above, described servo drive system 100 comprises speed control circuit 111, position control circuit 112, first comparator 113, second comparator 114 and the 3rd comparator 115.Described position feedback module 105 is connected with the inverting input of described first comparator 113, described numerical control drilling machine (computer numerical control, CNC) be connected with the in-phase input end of described first comparator 113, the output of described first comparator 113 is connected with position control circuit 112, described first comparator 113 input positional information and from the positional information that workbench 107 feeds back compare ask difference after output to described position control circuit 112, for regulating displacement parameter in real time.
Described speed/positional detector 104 is connected with the inverting input of described second comparator 114, the output of described position control circuit 112 is connected with the in-phase input end of described second comparator 114, comparing the in-phase input end asking the positional information after differing to be input to the second comparator 114 after treatment from the first comparator 113, the output of described second comparator 114 is connected with described speed control circuit 111, described second comparator 114 the velocity information of input and the velocity information that feeds back from speed/position detector 104 by compare ask difference after feed back to described speed control circuit 111, for real-time governing speed parameter.
Described speed/positional detector 104 is connected with the inverting input of described 3rd comparator 115, described speed control circuit 111 is connected with the in-phase input end of described 3rd comparator 115, the output of described 3rd comparator 115 is connected with described speed control circuit 111, described 3rd comparator 115 the current information of input and the current information fed back from phase asynchronous alternating current generator 116 compare ask difference after output to described speed control circuit 111, for regulating current parameters in real time.Described speed control circuit 111 is transferred to electric machine 101 for controlling the motion of described machine driven system 102 drive singal.
Combine with the various embodiments described above, described servo drive system 100, described machine driven system 102, described electric machine 101 form three closed loop configuration together with described position feedback module 105, be respectively electric current loop, speed ring and position ring, wherein electric current loop, speed ring are inner ring, and position ring is outer shroud.The loop that described speed/positional detector 104, described 3rd comparator 115 and described speed control circuit 111 are formed is electric current loop.The loop that described speed/positional detector 104, described second comparator 114, described 3rd comparator 115 and described speed control circuit 111 are formed is speed ring.The loop that described position control circuit 112, described first comparator 113, described second comparator 114, described speed control circuit 111, described speed/positional detector 104, described position feedback module 105, described machine driven system 102 and described 3rd comparator 115 are formed is position ring.In whole SERVO CONTROL tricyclic structure, drive with the phase asynchronous AC servomotor of vector controlled.Wherein, the effect of electric current loop is the transfer function improving inner ring control object, improves the rapidity of system, suppresses the interference of electric current loop inside in time, and restriction maximum current, makes system have enough large acceleration moment of torsion, and safeguards system safe operation; The effect of speed ring is the ability of enhancing system anti-disturbance, suppresses velocity perturbation; The effect of position ring ensures static system precision and performance of dynamic tracking, makes that whole servo-drive system can be stablized, high-performance operation.In order to improve the performance of system, each link all has adjuster.Electric current loop and speed ring all adopt pi regulator, and position ring adopts P adjuster.
As shown in Figure 3, be the Computer Simulation collectivity Scheme Design figure drawn according to high speed and super precision multiaxis PCB numerical control drilling machine pictorial diagram, servomotor is connected on servo-driver, is used for controlling the motion of axle, and X-axis and Y-axis drive the motion of workbench, Z
1to Z
6be the main shaft of 6 Z-directions, under the main shaft of Z-direction, cutter be installed, for holing to pcb board.Whether sensor location detection module puts in place for the shift position detecting displacement detecting sensor; The cutter that Pneumatic control module is adsorbed on control Z main tapping; Whether drill bit detection module damages for detecting cutter, repairs as damaged then cutter to be reclaimed; Panel control module is for the input of the motion and order that operate drilling machine; A large amount of heat that refrigeration control module can produce in boring procedure for reducing drill bit, and heat is drained in time.The computer high-order closed loop system simulation model figure of Fig. 2 can be designed according to the Computer Simulation collectivity Scheme Design figure of the present invention of Fig. 3.As shown in Figure 2, wherein, electric current loop and speed ring are that inner ring controls, and position ring is that outer shroud controls.Electric current loop for connect current regulator, pulse width modulation (PWM), phase asynchronous alternating current generator (PMSM) successively, and is fed back current signal by electric current loop feedback filter, controls in real time for system; Speed ring is connection speed adjuster, electric current loop pre-filter, electric current loop, moment coefficient and electric machine rotation inertia successively, and Negotiation speed ring feedback filter feeds back rate signal, carries out real-time speed control for giving number nearly control drilling machine; Position ring for connect proportional controller, speed ring prefilter, speed ring, integration, equivalent mechanical rigidity etc. successively, and feeds back to servo drive system position signalling and regulates.
The control system of above-mentioned high speed and super precision multiaxis PCB numerical control drilling machine adopts based on S curve feed speed control and motion planning, adopts speed control mode speed full closed loop control to XYZ axle.In programming movement position and speed controls, main employing S type and flexible feed speed control, speed change curves and accelerating curve continuous, by to startup stage and high speed stage acceleration and deceleration decay in whole acceleration and deceleration process, avoid soft impulse, be a kind of acceleration and deceleration curves of applicable High-speed machining.As shown in Figure 5, be S curve deceleration planning figure, when displacement is 0-S1, speed is for be slowly increased to V1 by S, and acceleration is for be increased to maximum positive acceleration a by 0
max, acceleration is now the maximum j of forward
max; When displacement is S1 to S2, speed is for be increased to V2 by V1, and acceleration is by being in maximum positive acceleration a
max, acceleration is now 0; When displacement is S2 to S 3, speed is for be slowly increased to V3 by V2, and acceleration is by maximum positive acceleration a
maxreduce to 0, acceleration is now the maximum j of negative sense
max; When displacement is S3 to S4, speed for be remained unchanged by V3, i.e. V3=V4, acceleration is 0, and acceleration is also now 0; When displacement is S4 to S5, speed is for slowly to decelerate to V5 by V4, and acceleration is for reduce to maximum deceleration a by 0
max, acceleration is now the maximum j of negative sense
max; When displacement is S5 to S6, speed is for decelerate to V6 by V5, and acceleration is maximum deceleration a
max, acceleration is now 0; When displacement is S6 to S7, speed is for slowly to decelerate to V7 by V6, and acceleration is maximum deceleration a
maxreduce to 0, acceleration is now the maximum j of forward
max.
In order to meet speed in High-speed NC Machining and stability requirement; In servo drive system, adopting the servo control algorithm of PID+ velocity feed forward+feed forward of acceleration, by regulating each parameter, control accurate and stable fast can be realized to digital control system.Control method comprises the following steps:
A1, servo drive system, mechanical drive train is adopted to unify electric machine the rational founding mathematical models of binding site feedback module;
A2, carry out simulation analysis according to the model built up, regulate each link pid parameter, and it is adjusted obtain rational pid parameter;
A3, according to the pid parameter after adjusting, servo drive system adopts S type curve acceleration and deceleration mode to control machine driven system motion;
A4, arrange parameters by motion controller, and send instruction to servo drive system, according to the feedback of servo drive system, motion controller adjusts parameter online in real time, make whole control system speed change curves and accelerating curve continuous.Can avoid soft impulse in whole acceleration and deceleration process like this, be a kind of acceleration and deceleration mode of more reasonable High-speed machining.
Combine with above-described embodiment, in described steps A 3, the planning algorithm of described S type curve acceleration and deceleration mode comprises the following steps:
A31, first carry out the judgement of acceleration, judge that acceleration is in accelerations, at the uniform velocity still deceleration area; If be in accelerating region, forward steps A 32 to; If be at the uniform velocity district, forward steps A 33 to; Judge to terminate, forward steps A 34 to and carry out speed planning;
A32, this brief acceleration are in accelerating region, if speed is now also in accelerating sections, then according to target velocity and the displacement of targets of setting, have determined whether even accelerating sections; If speed is now in braking section, then according to physical planning maximal rate out, when preplanning speed and terminal velocity, determined whether even braking section; Judge to terminate, forward steps A 34 to and carry out speed planning;
Whether A33, judgement acceleration are first time be at the uniform velocity district, if so, then according to the target velocity when preplanning speed and setting, will calculate speed when acceleration reduces speed now, judge as later each interpolation cycle the condition whether acceleration will slow down; If speed is now in accelerating sections, then also need to judge whether acceleration reduces speed now according to displacement of targets; Judge to terminate, forward steps A 34 to and carry out speed planning;
A34, carry out the planning of speed, judgement speed is in acceleration, at the uniform velocity or deceleration area, and calculates current planned position; If be in accelerating region, forward steps A 35 to; If be at the uniform velocity district, forward steps A 36 to; If be in deceleration area, forward steps A 37 to;
A35, according to current planned position and displacement of targets, determined whether at the uniform velocity section, if not at the uniform velocity section, then calculate position surplus, for the position compensation of braking section, planning terminates;
Whether A36, judgement speed are first time be at the uniform velocity district, if so, then according to current planned position and displacement of targets, will calculate the position of deceleration point; Later each interpolation cycle will judge whether speed will reduce speed now, and if so, then spotting speed is 0, and calculates position surplus, and planning terminates;
A37, carry out position compensation, S type curve deceleration planning terminates.
This planning algorithm has simply, and it is convenient to realize, the feature of highly versatile.Acceleration can be solved after adopting this algorithm very well continuous, speed can be made steadily to rise or reduce, reduce the impact to lathe, ensure the stationarity of machine tool motion; Meanwhile, this algorithm can realize quick accuracy location, improves Drilling operation efficiency.
As shown in Figure 4, be the control flow chart of numerical control drilling machine of the present invention, concrete steps are: B1, program start up system initialize; B2, drilling machine do homework; B3, judge boring control instruction whether be ready to, be enter step B5, otherwise enter step B4; B4, motion planning are arranged; B5, start boring; B6, hole complete; B7, judge whether the hole in same aperture has bored, and is enter step B8, otherwise enters step B4; B8, bore the hole in next aperture, before execution, go to step B55; B9, judge whether all holes have bored all, are, enter step B10, otherwise enter step B2; The boring of B10, monoblock pcb board terminates, and quits a program.
Described step B2 comprises: the back to zero of B21, X, Y, Z axis; B22, derivation boring file; B23, placement work pcb board; B24, adjustment trip-out position, determine initial point position of holing; B25, boring document alignment, and file save.Described step B4 comprises: B41, X-axis, Y-axis, Z axis motion planning; The essential information of B42, file of holing according to motion planning and PCB generates control instruction file, and forwards step B5 to.Step is comprised: B51, tool management storehouse before described step B5; B52, cutter parameters are arranged; B53, judge whether cutter parameters sets, and is, enters step B54, otherwise enter step B52; B54, manipulator get cutter from tool magazine; B55, cutter arrangement of tool transfer correspondence, carry out tool changing, and go to step B5.Step is comprised: B61, Tool monitoring after described step B6; B62, judge whether cutter weares and teares, and is, enters step B63, otherwise enter step B55; B63, reclaim cutter repairing.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. a high speed and super precision multiaxis PCB numerical control drilling machine, is characterized in that, comprising: the machine driven system of servo drive system, multijoint control, electric machine, shaft coupling, position feedback module and motion controller;
Described machine driven system is connected with described servo drive system by described shaft coupling, described electric machine successively;
Described position feedback module connects described mechanical drive train and to unify described servo drive system, for giving described servo drive system the displacement Real-time Feedback of described machine driven system;
Described servo drive system is used for adopting pid control algorithm to produce drive singal to drive described electric machine according to the control signal received and feedback signal, and described electric machine drives described machine driven system to carry out stable motion by described shaft coupling again;
Described servo drive system comprises: speed control circuit, position control circuit, the first comparator, the second comparator and the 3rd comparator;
Described position feedback module is connected with the inverting input of described first comparator, described numerical control drilling machine is connected with the in-phase input end of described first comparator, the output of described first comparator is connected with described position control circuit, described first comparator the positional information of input and the positional information of feedback compare ask difference after output to described position control circuit;
Described electric machine is connected with the inverting input of described second comparator, described position control circuit is connected with the in-phase input end of described second comparator, the output of described second comparator is connected with described speed control circuit, described second comparator the velocity information of input and the velocity information that feeds back by compare ask difference after feed back to described speed control circuit;
Described electric machine is connected with the inverting input of described 3rd comparator, described speed control circuit is connected with the in-phase input end of described 3rd comparator, the output of described 3rd comparator is connected with described speed control circuit, described 3rd comparator the current information of current information and the feedback of input compare ask differ from after output to described speed control circuit, described speed control circuit is transferred to electric machine for controlling the motion of described machine driven system drive singal;
Described motion controller is built in computer, for controlling, coordinating the motion of each parts in machine driven system.
2. high speed and super precision multiaxis PCB numerical control drilling machine according to claim 1, it is characterized in that, described machine driven system comprises: for placing pcb board and workbench, displacement detecting sensor, at least three main shafts and the bearing that can move in X-axis and Y direction;
One end of described displacement detecting sensor is connected with described workbench, for responding to the shift position of described workbench, the other end of described displacement detecting sensor is connected with described position feedback module, and the shift position of the described workbench sensed is fed back to described position feedback module;
Described main shaft comprises ball nut and ball-screw, for the motion of carry its tools drill bit or described workbench;
Described ball nut is connected with described workbench;
Described ball-screw is connected with described shaft coupling through ball nut, and the two ends of described ball-screw are fixed with described bearing.
3. high speed and super precision multiaxis PCB numerical control drilling machine according to claim 2, is characterized in that, described electric machine comprises at least one speed/positional detector and at least one phase asynchronous alternating current generator;
A described phase asynchronous alternating current generator is connected with described main shaft by described shaft coupling, for controlling the motion of described main shaft;
Described speed/positional detector is connected with described phase asynchronous alternating current generator, for reading the revolution of described phase asynchronous alternating current generator and revolution being converted to positional information, feeds back to described servo drive system.
4. high speed and super precision multiaxis PCB numerical control drilling machine according to claim 3, it is characterized in that, described speed control circuit comprises: speed regulator, electric current loop pre-filter, current regulator, pulse-width modulator, comparator, electric current loop feedback filter, loop feedback wave filter sum-product intergrator;
The output of described second comparator, described speed regulator, described electric current loop pre-filter, the in-phase input end of described 3rd comparator is connected successively, the output of described 3rd comparator, described current regulator, described pulse-width modulator, described phase asynchronous alternating current generator, described integrator is connected successively, the electric current of described phase asynchronous alternating current generator feeds back to the inverting input of the 3rd comparator by described electric current loop feedback filter, the electric machine rotation inertia of described phase asynchronous alternating current generator returns the inverting input of the second comparator by described loop feedback filter feedback.
5. high speed and super precision multiaxis PCB numerical control drilling machine according to claim 1, it is characterized in that, described position control circuit comprises: proportional controller, speed ring prefilter;
The output of described first comparator is connected with the input of described proportional controller, the output of described proportional controller is connected with the input of described speed ring prefilter, and the output of described speed ring prefilter is connected with the in-phase input end of described second comparator.
6. the control method of high speed and super precision multiaxis PCB numerical control drilling machine according to claim 1, is characterized in that, comprise the following steps:
A1, servo drive system, mechanical drive train is adopted to unify electric machine the rational founding mathematical models of binding site feedback module;
A2, carry out simulation analysis according to the Mathematical Modeling built up, regulate each link pid parameter, and it is adjusted obtain rational pid parameter;
A3, according to the pid parameter after adjusting, servo drive system adopts S type curve acceleration and deceleration mode to control machine driven system motion;
A4, arrange parameters by motion controller, and send instruction to servo drive system, according to the feedback of servo drive system, motion controller adjusts parameter online in real time, make whole control system speed change curves and accelerating curve continuous.
7. control method according to claim 6, is characterized in that, in described steps A 3, the planning algorithm of described S type curve acceleration and deceleration mode comprises the following steps:
A31, first carry out the judgement of acceleration, judge that acceleration is in accelerations, at the uniform velocity still deceleration area; If be in accelerating region, forward steps A 32 to; If be at the uniform velocity district, forward steps A 33 to; Judge to terminate, forward steps A 34 to and carry out speed planning;
A32, this brief acceleration are in accelerating region, if speed is now also in accelerating sections, then according to target velocity and the displacement of targets of setting, have determined whether even accelerating sections; If speed is now in braking section, then according to physical planning maximal rate out, when preplanning speed and terminal velocity, determined whether even braking section; Judge to terminate, forward steps A 34 to and carry out speed planning;
Whether A33, judgement acceleration are first time be at the uniform velocity district, if so, then according to the target velocity when preplanning speed and setting, will calculate speed when acceleration reduces speed now, judge as later each interpolation cycle the condition whether acceleration will slow down; If speed is now in accelerating sections, then also need to judge whether acceleration reduces speed now according to displacement of targets; Judge to terminate, forward steps A 34 to and carry out speed planning;
A34, carry out the planning of speed, judgement speed is in acceleration, at the uniform velocity or deceleration area, and calculates current planned position; If be in accelerating region, forward steps A 35 to; If be at the uniform velocity district, forward steps A 36 to; If be in deceleration area, forward steps A 37 to;
A35, according to current planned position and displacement of targets, determined whether at the uniform velocity section, if not at the uniform velocity section, then calculate position surplus, for the position compensation of braking section, planning terminates;
Whether A36, judgement speed are first time be at the uniform velocity district, if so, then according to current planned position and displacement of targets, will calculate the position of deceleration point; Later each interpolation cycle will judge whether speed will reduce speed now, and if so, then spotting speed is 0, and calculates position surplus, and planning terminates;
A37, carry out position compensation, S type curve deceleration planning terminates.
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